{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import h5py\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "with h5py.File('/home/mobile-aloha/data/aloha_mobile_fork/episode_19_replayed.hdf5', 'r') as f:\n",
    "    obs_wheels = f['obs_wheels'][:]\n",
    "    obs_tracer = f['obs_tracer'][:]\n",
    "    base_actions = f['base_action'][:]\n",
    "\n",
    "    plt.plot(base_actions[:, 0], label='action_linear')\n",
    "    plt.plot(base_actions[:, 1], label='action_angular')\n",
    "    plt.plot(obs_wheels[:, 0], '--', label='obs_wheels_linear')\n",
    "    plt.plot(obs_wheels[:, 1], '--', label='obs_wheels_angular')\n",
    "    plt.plot(obs_tracer[:, 0], '-.', label='obs_tracer_linear')\n",
    "    plt.plot(obs_tracer[:, 1], '-.', label='obs_tracer_angular')\n",
    "    plt.legend()\n",
    "\n",
    "    plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {},
   "outputs": [],
   "source": [
    "import pyrealsense2 as rs\n",
    "from pyquaternion import Quaternion\n",
    "import numpy as np\n",
    "np.set_printoptions(precision=3, suppress=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "SocketcanBus was not properly shut down\n"
     ]
    }
   ],
   "source": [
    "import pyagxrobots\n",
    "tracer = pyagxrobots.pysdkugv.TracerBase()\n",
    "tracer.EnableCAN()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<pyrealsense2.pyrealsense2.pipeline_profile at 0x7f2d6438c9f0>"
      ]
     },
     "execution_count": 24,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "pipeline = rs.pipeline()\n",
    "cfg = rs.config()\n",
    "# if only pose stream is enabled, fps is higher (202 vs 30)\n",
    "cfg.enable_stream(rs.stream.pose)\n",
    "pipeline.start(cfg)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 41,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "Exception in callback Notifier._on_message_available(<can.interfac...x7f2d67030970>)\n",
      "handle: <Handle Notifier._on_message_available(<can.interfac...x7f2d67030970>)>\n",
      "Traceback (most recent call last):\n",
      "  File \"/home/mobile-aloha/miniconda3/envs/aloha/lib/python3.8/site-packages/can/interfaces/socketcan/socketcan.py\", line 531, in capture_message\n",
      "    cf, ancillary_data, msg_flags, addr = sock.recvmsg(\n",
      "OSError: [Errno 19] No such device\n",
      "\n",
      "During handling of the above exception, another exception occurred:\n",
      "\n",
      "Traceback (most recent call last):\n",
      "  File \"/home/mobile-aloha/miniconda3/envs/aloha/lib/python3.8/asyncio/events.py\", line 81, in _run\n",
      "    self._context.run(self._callback, *self._args)\n",
      "  File \"/home/mobile-aloha/miniconda3/envs/aloha/lib/python3.8/site-packages/can/notifier.py\", line 137, in _on_message_available\n",
      "    msg = bus.recv(0)\n",
      "  File \"/home/mobile-aloha/miniconda3/envs/aloha/lib/python3.8/site-packages/can/bus.py\", line 98, in recv\n",
      "    msg, already_filtered = self._recv_internal(timeout=time_left)\n",
      "  File \"/home/mobile-aloha/miniconda3/envs/aloha/lib/python3.8/site-packages/can/interfaces/socketcan/socketcan.py\", line 739, in _recv_internal\n",
      "    msg = capture_message(self.socket, get_channel)\n",
      "  File \"/home/mobile-aloha/miniconda3/envs/aloha/lib/python3.8/site-packages/can/interfaces/socketcan/socketcan.py\", line 539, in capture_message\n",
      "    raise can.CanOperationError(f\"Error receiving: {error.strerror}\", error.errno)\n",
      "can.exceptions.CanOperationError: Error receiving: No such device [Error Code 19]\n"
     ]
    }
   ],
   "source": [
    "import time\n",
    "set_vel = 0.05\n",
    "l = []\n",
    "for _ in range(400):\n",
    "    frames = pipeline.wait_for_frames()\n",
    "    pose_frame = frames.get_pose_frame()\n",
    "    pose = pose_frame.get_pose_data()\n",
    "    q1 = Quaternion(w=pose.rotation.w, x=pose.rotation.x, y=pose.rotation.y, z=pose.rotation.z)\n",
    "    rotation = -np.array(q1.yaw_pitch_roll)[0]\n",
    "    rotation_vec = np.array([np.cos(rotation), np.sin(rotation)])\n",
    "    linear_vel_vec = np.array([pose.velocity.z, pose.velocity.x])\n",
    "    is_forward = rotation_vec.dot(linear_vel_vec) > 0\n",
    "    base_linear_vel = np.sqrt(pose.velocity.z ** 2 + pose.velocity.x ** 2) * (1 if is_forward else -1)\n",
    "    base_angular_vel = pose.angular_velocity.y\n",
    "    # print(rotation * 180 / np.pi, pose.angular_velocity.y, linear_vel_vec, is_forward, base_linear_vel)\n",
    "    # print(base_angular_vel)\n",
    "    l.append(base_angular_vel)\n",
    "    tracer.SetMotionCommand(linear_vel=0, angular_vel=set_vel)\n",
    "    time.sleep(0.02)\n",
    "from matplotlib import pyplot as plt\n",
    "plt.title(f'angular velocity cmd {set_vel}')\n",
    "plt.plot([set_vel] * len(l), linestyle='--', color='red')\n",
    "plt.plot(l)\n",
    "plt.savefig(f'angular_velocity_{set_vel}.png')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([2., 2.])"
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from simple_pid import PID\n",
    "pid = PID(1, 0.1, 0.05, setpoint=np.array([2,2]))\n",
    "action = pid(np.array([0., 0.]))\n",
    "action"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(x: -3.06888e-06, y: -0.000150881, z: 0.000225695,\n",
       " x: 0.707983, y: 0.00377035, z: 0.00379921, w: 0.70621)"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames = pipeline.wait_for_frames()\n",
    "pose_frame = frames.get_pose_frame()\n",
    "pose = pose_frame.get_pose_data()\n",
    "pose.translation, pose.rotation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(x: -0.0135755, y: 0.00177098, z: 0.321237,\n",
       " x: 0.709958, y: 0.000801042, z: 0.0116255, w: 0.704148)"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames = pipeline.wait_for_frames()\n",
    "pose_frame = frames.get_pose_frame()\n",
    "pose = pose_frame.get_pose_data()\n",
    "pose.translation, pose.rotation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(x: 0.370863, y: 0.0132695, z: 0.967719,\n",
       " x: 0.662497, y: 0.256232, z: -0.253257, w: 0.656737)"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames = pipeline.wait_for_frames()\n",
    "pose_frame = frames.get_pose_frame()\n",
    "pose = pose_frame.get_pose_data()\n",
    "pose.translation, pose.rotation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 49,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([-178.554,   -0.039,   89.406])"
      ]
     },
     "execution_count": 49,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "q1 = Quaternion(w=pose.rotation.w, x=pose.rotation.x, y=pose.rotation.y, z=pose.rotation.z)\n",
    "np.array(q1.yaw_pitch_roll) * 180 / np.pi\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([-0.315,  0.227, 90.26 ])"
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "q1 = Quaternion(w=pose.rotation.w, x=pose.rotation.x, y=pose.rotation.y, z=pose.rotation.z)\n",
    "np.array(q1.yaw_pitch_roll) * 180 / np.pi"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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   "display_name": "aloha",
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  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
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